A class for setting a virtual sensor link. More...

#include <iDynInv.h>

Inheritance diagram for iCub::iDyn::SensorLinkNewtonEuler:

Public Member Functions
	SensorLinkNewtonEuler (const NewEulMode _mode, unsigned int verb=iCub::skinDynLib::NO_VERBOSE)
	Default constructor.

	SensorLinkNewtonEuler (const yarp::sig::Matrix &_H, const yarp::sig::Matrix &_COM, const double _m, const yarp::sig::Matrix &_I, const NewEulMode _mode, unsigned int verb=iCub::skinDynLib::NO_VERBOSE)
	Constructor.

virtual	~SensorLinkNewtonEuler ()
	Destructor.

bool	setMeasuredFMu (const yarp::sig::Vector &_F, const yarp::sig::Vector &_Mu)
	Set the sensor measured force/moment - if measured by a FT sensor.

bool	setSensor (const yarp::sig::Matrix &_H, const yarp::sig::Matrix &_HC, const double _m, const yarp::sig::Matrix &_I)
	Set a new sensor or new sensor properties.

void	ForwardAttachToLink (iDynLink *link)
	Compute w,dw,ddp,dppC given the reference frame of the link where the sensor is.

void	BackwardAttachToLink (iDynLink *link)
	Compute F,Mu given the reference frame of the link where the sensor is.

void	ForwardForcesMomentsToLink (iDynLink *link)
	Forward the sensor forces and moments, measured by the sensor, to the reference frame of the link where the sensor is: this method is the base for the inverse Newton-Euler algorithm, since it forwards the sensor measurements to the iDynChain.

yarp::sig::Vector	getForceMoment () const
	Get the sensor force and moment in a single (6x1) vector.

const yarp::sig::Vector &	getAngVel () const

const yarp::sig::Vector &	getAngAcc () const

const yarp::sig::Vector &	getLinAcc () const

const yarp::sig::Vector &	getLinAccC () const

const yarp::sig::Vector &	getForce () const

const yarp::sig::Vector &	getMoment (bool isBase=false) const

double	getIm () const

double	getFs () const

double	getFv () const

double	getD2q () const

double	getDq () const

double	getKr () const

const yarp::sig::Vector &	getAngAccM () const

double	getTorque () const

const yarp::sig::Matrix &	getH () const

double	getMass () const

const yarp::sig::Matrix &	getInertia () const

const yarp::sig::Matrix &	getR ()

const yarp::sig::Matrix &	getRC ()

const yarp::sig::Vector &	getr (bool proj=false)

const yarp::sig::Vector &	getrC (bool proj=false)

bool	setForce (const yarp::sig::Vector &_F)
	Set the OneLink force: either the corresponding iDynLink force, or the one declared as member in the child classes derived from OneLink, such as SensorLink.

bool	setMoment (const yarp::sig::Vector &_Mu)
	Set the OneLink moment: either the corresponding iDynLink moment, or the one declared as member in the child classes derived from OneLink, such as SensorLink.

void	setTorque (const double _Tau)
	Set the OneLink torque, ie the corresponding iDynLink joint torque (nothing in the child classes derived from OneLink, such as SensorLink)

bool	setAngVel (const yarp::sig::Vector &_w)
	Set the OneLink angular velocity (w), ie the corresponding iDynLink angular velocity (w) (in the child classes derived from OneLink, it depends)

bool	setAngAcc (const yarp::sig::Vector &_dw)
	Set the OneLink angular acceleration (dw), ie the corresponding iDynLink angular acceleration (dw) (in the child classes derived from OneLink, it depends)

bool	setLinAcc (const yarp::sig::Vector &_ddp)
	Set the OneLink linear acceleration (ddp), ie the corresponding iDynLink linear acceleration (ddp) (in the child classes derived from OneLink, it depends)

bool	setLinAccC (const yarp::sig::Vector &_ddpC)
	Set the OneLink linear acceleration of the COM (ddpC), ie the corresponding iDynLink linear acceleration of the COM (ddpC) (nothing in the child classes derived from OneLink, except for SensorLink)

bool	setAngAccM (const yarp::sig::Vector &_dwM)
	Set the OneLink angular acceleration of the motor (dwM), ie the corresponding iDynLink angular acceleration of the COM (dwM) (nothing in the child classes derived from OneLink)

std::string	toString () const
	Useful to print some information.

void	computeAngVel (iDynLink *link)

void	computeAngAcc (iDynLink *link)

void	computeLinAcc (iDynLink *link)

void	computeLinAccC ()

void	computeForce (iDynLink *link)

void	computeMoment (iDynLink *link)

void	computeForceToLink (iDynLink *link)

void	computeMomentToLink (iDynLink *link)

virtual std::string	getType () const

Public Member Functions inherited from iCub::iDyn::OneLinkNewtonEuler
	OneLinkNewtonEuler (iDyn::iDynLink *dlink=NULL)
	Default constructor.

	OneLinkNewtonEuler (const NewEulMode _mode, unsigned int verb=iCub::skinDynLib::NO_VERBOSE, iDyn::iDynLink *dlink=NULL)
	Constructor, with initialization of some data.

virtual	~OneLinkNewtonEuler ()
	Destructor.

void	zero ()
	Set everything to zero; R is set to an identity matrix.

virtual bool	setAsBase (const yarp::sig::Vector &_w, const yarp::sig::Vector &_dw, const yarp::sig::Vector &_ddp)
	Virtual method to set the frame as the base one: this is useful to initialize the forward phase of Newton-Euler's method.

virtual bool	setAsBase (const yarp::sig::Vector &_F, const yarp::sig::Vector &_Mu)

virtual bool	setAsFinal (const yarp::sig::Vector &_F, const yarp::sig::Vector &_Mu)
	Set the frame as the final one: this is useful to initialize the backward phase of Newton-Euler's method, by setting F and Mu; R is an identity matrix.

virtual bool	setAsFinal (const yarp::sig::Vector &_w, const yarp::sig::Vector &_dw, const yarp::sig::Vector &_ddp)
	Set the frame as the final one: this is useful to initialize the backward phase of Euler's method, by setting w, dw and ddp; R is an identity matrix.

virtual bool	setMeasuredTorque (const double _Tau)
	Set measured torque in a joint torque sensor frame

void	setVerbose (unsigned int verb=iCub::skinDynLib::VERBOSE)
	Set the verbosity level of comments during operations.

void	setMode (const NewEulMode _mode)
	Set the operation mode (static,dynamic etc)

bool	setZM (const yarp::sig::Vector &_zm)
	Set the zM vector.

void	setInfo (const std::string &_info)
	Set some information about this OneLink class.

NewEulMode	getMode () const

yarp::sig::Vector	getZM () const

std::string	getInfo () const

virtual const yarp::sig::Matrix &	getH ()

void	ForwardKinematics (OneLinkNewtonEuler *prev)
	[Forward Newton-Euler] Compute w, dw, ddp, ddpC, dwM

void	BackwardKinematics (OneLinkNewtonEuler *prev)
	[Backward Kinematic computation] Compute w, dw, ddp, ddpC, dwM

void	BackwardWrench (OneLinkNewtonEuler *next)
	[Backward Newton-Euler] Compute F, Mu, Tau

void	ForwardWrench (OneLinkNewtonEuler *prev)
	[Inverse Newton-Euler] Compute F, Mu, Tau

virtual void	computeTorque (OneLinkNewtonEuler *prev)
	[all] Compute joint torque; moment must be pre-computed

Protected Attributes
yarp::sig::Vector	F
	measured or estimated force

yarp::sig::Vector	Mu
	measured or estimated moment

yarp::sig::Vector	w
	angular velocity

yarp::sig::Vector	dw
	angular acceleration

yarp::sig::Vector	ddp
	linear acceleration

yarp::sig::Vector	ddpC
	linear acceleration of the COM

yarp::sig::Matrix	H
	the roto-translational matrix from the i-th link to the sensor: it's the matrix describing the sensor position and orientation with respect to the frame of the link where the sensor is placed on

yarp::sig::Matrix	COM
	the roto-translational matrix of the COM of the semi-link (bewteen sensor and ith link frame)

yarp::sig::Matrix	I
	the semi-link inertia

double	m
	the semi-link mass (the portion of link defined by the sensor)

yarp::sig::Matrix	R

yarp::sig::Matrix	RC

yarp::sig::Vector	r

yarp::sig::Vector	r_proj

yarp::sig::Vector	rc

yarp::sig::Vector	rc_proj

const yarp::sig::Vector	zeros0

Protected Attributes inherited from iCub::iDyn::OneLinkNewtonEuler
NewEulMode	mode
	STATIC/DYNAMIC/DYNAMIC_W_ROTOR/DYNAMIC_CORIOLIS_GRAVITY.

std::string	info
	info or useful notes

unsigned int	verbose
	verbosity flag

yarp::sig::Vector	z0
	z0=[0 0 1]'

yarp::sig::Vector	zm
	z^{i-1}_{m_{i}} versor rotating solidally with link i, projected in frame i ==>> constant

iDyn::iDynLink *	link
	the corresponding iDynLink

Additional Inherited Members
Protected Member Functions inherited from iCub::iDyn::OneLinkNewtonEuler
void	computeAngVel (OneLinkNewtonEuler *prev)
	[Forward Newton-Euler] compute angular velocity of the link

void	computeAngVelBackward (OneLinkNewtonEuler *prev)
	[Forward Newton-Euler] compute angular velocity of the previous link frame

void	computeAngAcc (OneLinkNewtonEuler *prev)
	[Forward Newton-Euler] compute angular acceleration of the link

void	computeAngAccBackward (OneLinkNewtonEuler *prev)
	[Forward Newton-Euler] compute angular acceleration of the previous link frame

void	computeLinAcc (OneLinkNewtonEuler *prev)
	[Forward Newton-Euler] compute linear acceleration of the reference frame of the link

void	computeLinAccBackward (OneLinkNewtonEuler *prev)
	[Forward Newton-Euler] compute linear acceleration of the reference frame of the previous link

void	computeLinAccC ()
	[Forward Newton-Euler] compute linear acceleration of the center of mass

void	computeAngAccM (OneLinkNewtonEuler *prev)
	[Forward Newton-Euler] compute angular acceleration of the rotor

void	computeForceBackward (OneLinkNewtonEuler *next)
	[Backward Newton-Euler] compute force from the following link

void	computeForceForward (OneLinkNewtonEuler *prev)
	[Inverse Newton-Euler] compute force from the previous link

void	computeMomentBackward (OneLinkNewtonEuler *next)
	[Backward Newton-Euler] compute moment from the following link

void	computeMomentForward (OneLinkNewtonEuler *prev)
	[Inverse Newton-Euler] compute moment from the previous link

Detailed Description

A class for setting a virtual sensor link.

This class is used to initialize the forward and backward phase of Newton-Euler's method in the Inverse formulation, but also to have estimation of the FT measures by the sensor; the sensor frame is defined with respect to the i-th link, where the sensor is attached. Note that this is a virtual link, since there's no iDynLink attached: it is just necessary to make the recursive Inverse Newton-Euler computations; however, inertia, mass and COM are defined, for the portion of link defined between sensor and i-th frame.

Definition at line 718 of file iDynInv.h.

Constructor & Destructor Documentation

◆ SensorLinkNewtonEuler() [1/2]

SensorLinkNewtonEuler::SensorLinkNewtonEuler	(	const NewEulMode	_mode,
		unsigned int	verb = `iCub::skinDynLib::NO_VERBOSE`
	)

Default constructor.

Parameters

_mode	the analysis mode (static/dynamic)
verb	flag for verbosity

Definition at line 1229 of file iDynInv.cpp.

◆ SensorLinkNewtonEuler() [2/2]

iCub::iDyn::SensorLinkNewtonEuler::SensorLinkNewtonEuler	(	const yarp::sig::Matrix &	_H,
		const yarp::sig::Matrix &	_COM,
		const double	_m,
		const yarp::sig::Matrix &	_I,
		const NewEulMode	_mode,
		unsigned int	verb = `iCub::skinDynLib::NO_VERBOSE`
	)

Constructor.

Parameters

_mode	the analysis mode (static/dynamic)
verb	flag for verbosity

◆ ~SensorLinkNewtonEuler()

virtual iCub::iDyn::SensorLinkNewtonEuler::~SensorLinkNewtonEuler ( )

inlinevirtual

Destructor.

Definition at line 770 of file iDynInv.h.

Member Function Documentation

◆ BackwardAttachToLink()

void SensorLinkNewtonEuler::BackwardAttachToLink ( iDynLink * link )

Compute F,Mu given the reference frame of the link where the sensor is.

Parameters

link	the iDynLink class of the same link

Definition at line 1334 of file iDynInv.cpp.

◆ computeAngAcc()

void SensorLinkNewtonEuler::computeAngAcc ( iDynLink * link )

Definition at line 1512 of file iDynInv.cpp.

◆ computeAngVel()

void SensorLinkNewtonEuler::computeAngVel ( iDynLink * link )

Definition at line 1507 of file iDynInv.cpp.

◆ computeForce()

void SensorLinkNewtonEuler::computeForce ( iDynLink * link )

Definition at line 1555 of file iDynInv.cpp.

◆ computeForceToLink()

void SensorLinkNewtonEuler::computeForceToLink ( iDynLink * link )

Definition at line 1562 of file iDynInv.cpp.

◆ computeLinAcc()

void SensorLinkNewtonEuler::computeLinAcc ( iDynLink * link )

Definition at line 1517 of file iDynInv.cpp.

◆ computeLinAccC()

void SensorLinkNewtonEuler::computeLinAccC ( )

Definition at line 1537 of file iDynInv.cpp.

◆ computeMoment()

void SensorLinkNewtonEuler::computeMoment ( iDynLink * link )

Definition at line 1612 of file iDynInv.cpp.

◆ computeMomentToLink()

void SensorLinkNewtonEuler::computeMomentToLink ( iDynLink * link )

Definition at line 1570 of file iDynInv.cpp.

◆ ForwardAttachToLink()

void SensorLinkNewtonEuler::ForwardAttachToLink ( iDynLink * link )

Compute w,dw,ddp,dppC given the reference frame of the link where the sensor is.

Parameters

link	the iDynLink class of the same link

Definition at line 1326 of file iDynInv.cpp.

◆ ForwardForcesMomentsToLink()

void SensorLinkNewtonEuler::ForwardForcesMomentsToLink ( iDynLink * link )

Forward the sensor forces and moments, measured by the sensor, to the reference frame of the link where the sensor is: this method is the base for the inverse Newton-Euler algorithm, since it forwards the sensor measurements to the iDynChain.

Parameters

link	the iDynLink class of the same link

Definition at line 1340 of file iDynInv.cpp.

◆ getAngAcc()

const Vector & SensorLinkNewtonEuler::getAngAcc ( ) const

virtual

Returns: dw = angular acceleration (3x1)

Reimplemented from iCub::iDyn::OneLinkNewtonEuler.

Definition at line 1358 of file iDynInv.cpp.

◆ getAngAccM()

const Vector & SensorLinkNewtonEuler::getAngAccM ( ) const

virtual

Returns: dwM = angular acceleration of the rotor (3x1)

Reimplemented from iCub::iDyn::OneLinkNewtonEuler.

Definition at line 1392 of file iDynInv.cpp.

◆ getAngVel()

const Vector & SensorLinkNewtonEuler::getAngVel ( ) const

virtual

Returns: w = angular velocity (3x1)

Reimplemented from iCub::iDyn::OneLinkNewtonEuler.

Definition at line 1356 of file iDynInv.cpp.

◆ getD2q()

double SensorLinkNewtonEuler::getD2q ( ) const

virtual

Returns: ddq = d2q = joint acceleration

Reimplemented from iCub::iDyn::OneLinkNewtonEuler.

Definition at line 1389 of file iDynInv.cpp.

◆ getDq()

double SensorLinkNewtonEuler::getDq ( ) const

virtual

Returns: dq = dq = joint velocity

Reimplemented from iCub::iDyn::OneLinkNewtonEuler.

Definition at line 1390 of file iDynInv.cpp.

◆ getForce()

const Vector & SensorLinkNewtonEuler::getForce ( ) const

virtual

Returns: F = force (3x1)

Reimplemented from iCub::iDyn::OneLinkNewtonEuler.

Definition at line 1352 of file iDynInv.cpp.

◆ getForceMoment()

Vector SensorLinkNewtonEuler::getForceMoment ( ) const

Get the sensor force and moment in a single (6x1) vector.

Returns: a (6x1) vector where 0:2=force 3:5=moment

Definition at line 1650 of file iDynInv.cpp.

◆ getFs()

double SensorLinkNewtonEuler::getFs ( ) const

virtual

Returns: Fs = static friction

Reimplemented from iCub::iDyn::OneLinkNewtonEuler.

Definition at line 1387 of file iDynInv.cpp.

◆ getFv()

double SensorLinkNewtonEuler::getFv ( ) const

virtual

Returns: Fv = viscous friction

Reimplemented from iCub::iDyn::OneLinkNewtonEuler.

Definition at line 1388 of file iDynInv.cpp.

◆ getH()

const Matrix & SensorLinkNewtonEuler::getH ( ) const

Definition at line 1394 of file iDynInv.cpp.

◆ getIm()

double SensorLinkNewtonEuler::getIm ( ) const

virtual

Returns: Im

Reimplemented from iCub::iDyn::OneLinkNewtonEuler.

Definition at line 1386 of file iDynInv.cpp.

◆ getInertia()

const Matrix & SensorLinkNewtonEuler::getInertia ( ) const

virtual

Returns: I = inertia of the link

Reimplemented from iCub::iDyn::OneLinkNewtonEuler.

Definition at line 1366 of file iDynInv.cpp.

◆ getKr()

double SensorLinkNewtonEuler::getKr ( ) const

virtual

Returns: Kr

Reimplemented from iCub::iDyn::OneLinkNewtonEuler.

Definition at line 1391 of file iDynInv.cpp.

◆ getLinAcc()

const Vector & SensorLinkNewtonEuler::getLinAcc ( ) const

virtual

Returns: ddp = d2p = linear acceleration (3x1)

Reimplemented from iCub::iDyn::OneLinkNewtonEuler.

Definition at line 1360 of file iDynInv.cpp.

◆ getLinAccC()

const Vector & SensorLinkNewtonEuler::getLinAccC ( ) const

virtual

Returns: ddpC = d2pC = linear acceleration of the center of mass (3x1)

Reimplemented from iCub::iDyn::OneLinkNewtonEuler.

Definition at line 1362 of file iDynInv.cpp.

◆ getMass()

double SensorLinkNewtonEuler::getMass ( ) const

virtual

Returns: m = mass of the link

Reimplemented from iCub::iDyn::OneLinkNewtonEuler.

Definition at line 1364 of file iDynInv.cpp.

◆ getMoment()

const Vector & SensorLinkNewtonEuler::getMoment ( bool isBase = false ) const

virtual

Returns: Mu = moment (3x1)

Reimplemented from iCub::iDyn::OneLinkNewtonEuler.

Definition at line 1354 of file iDynInv.cpp.

◆ getR()

const Matrix & SensorLinkNewtonEuler::getR ( )

virtual

Returns: R = (3x3) rotational matrix from the Denavit-Hartenberg roto-translational matrix describing the link

Reimplemented from iCub::iDyn::OneLinkNewtonEuler.

Definition at line 1368 of file iDynInv.cpp.

◆ getr()

const Vector & SensorLinkNewtonEuler::getr ( bool proj = false )

virtual

Returns: r = (3x1) distance vector from the Denavit-Hartenberg roto-translational matrix describing the distance vector between frames and <i-1>

Reimplemented from iCub::iDyn::OneLinkNewtonEuler.

Definition at line 1372 of file iDynInv.cpp.

◆ getRC()

const Matrix & SensorLinkNewtonEuler::getRC ( )

virtual

Returns: RC = (3x3) rotational matrix from the roto-translational matrix of the link COM

Reimplemented from iCub::iDyn::OneLinkNewtonEuler.

Definition at line 1370 of file iDynInv.cpp.

◆ getrC()

const Vector & SensorLinkNewtonEuler::getrC ( bool proj = false )

virtual

Returns: rC = (3x1) distance vector from the roto-translational matrix of the link COM, describing the distance vector between COM and frame

Reimplemented from iCub::iDyn::OneLinkNewtonEuler.

Definition at line 1379 of file iDynInv.cpp.

◆ getTorque()

double SensorLinkNewtonEuler::getTorque ( ) const

virtual

Returns: Tau = torque (1x1)

Reimplemented from iCub::iDyn::OneLinkNewtonEuler.

Definition at line 1393 of file iDynInv.cpp.

◆ getType()

string SensorLinkNewtonEuler::getType ( ) const

virtual

Reimplemented in iCub::iDyn::iCubArmSensorLink, and iCub::iDyn::iCubLegSensorLink.

Definition at line 1658 of file iDynInv.cpp.

◆ setAngAcc()

bool SensorLinkNewtonEuler::setAngAcc ( const yarp::sig::Vector & _dw )

virtual

Set the OneLink angular acceleration (dw), ie the corresponding iDynLink angular acceleration (dw) (in the child classes derived from OneLink, it depends)

Parameters

_dw	angular acceleration

Reimplemented from iCub::iDyn::OneLinkNewtonEuler.

Definition at line 1446 of file iDynInv.cpp.

◆ setAngAccM()

bool SensorLinkNewtonEuler::setAngAccM ( const yarp::sig::Vector & _dwM )

virtual

Set the OneLink angular acceleration of the motor (dwM), ie the corresponding iDynLink angular acceleration of the COM (dwM) (nothing in the child classes derived from OneLink)

Parameters

_dwM	angular acceleration of the motor

Reimplemented from iCub::iDyn::OneLinkNewtonEuler.

Definition at line 1494 of file iDynInv.cpp.

◆ setAngVel()

bool SensorLinkNewtonEuler::setAngVel ( const yarp::sig::Vector & _w )

virtual

Set the OneLink angular velocity (w), ie the corresponding iDynLink angular velocity (w) (in the child classes derived from OneLink, it depends)

Parameters

_w	angular velocity

Reimplemented from iCub::iDyn::OneLinkNewtonEuler.

Definition at line 1430 of file iDynInv.cpp.

◆ setForce()

bool SensorLinkNewtonEuler::setForce ( const yarp::sig::Vector & _F )

virtual

Set the OneLink force: either the corresponding iDynLink force, or the one declared as member in the child classes derived from OneLink, such as SensorLink.

Parameters

_F	a (3x1) vector of forces

Returns: true if size is correct, false otherwise

Reimplemented from iCub::iDyn::OneLinkNewtonEuler.

Definition at line 1396 of file iDynInv.cpp.

◆ setLinAcc()

bool SensorLinkNewtonEuler::setLinAcc ( const yarp::sig::Vector & _ddp )

virtual

Set the OneLink linear acceleration (ddp), ie the corresponding iDynLink linear acceleration (ddp) (in the child classes derived from OneLink, it depends)

Parameters

_ddp	linear acceleration

Reimplemented from iCub::iDyn::OneLinkNewtonEuler.

Definition at line 1462 of file iDynInv.cpp.

◆ setLinAccC()

bool SensorLinkNewtonEuler::setLinAccC ( const yarp::sig::Vector & _ddpC )

virtual

Set the OneLink linear acceleration of the COM (ddpC), ie the corresponding iDynLink linear acceleration of the COM (ddpC) (nothing in the child classes derived from OneLink, except for SensorLink)

Parameters

_ddpC linear acceleration of the COM

Reimplemented from iCub::iDyn::OneLinkNewtonEuler.

Definition at line 1478 of file iDynInv.cpp.

◆ setMeasuredFMu()

bool SensorLinkNewtonEuler::setMeasuredFMu	(	const yarp::sig::Vector &	_F,
		const yarp::sig::Vector &	_Mu
	)

virtual

Set the sensor measured force/moment - if measured by a FT sensor.

Parameters

_F	the final force
_Mu	the final moment

Returns: true if dimensions are correct, false otherwise

Reimplemented from iCub::iDyn::OneLinkNewtonEuler.

Definition at line 1260 of file iDynInv.cpp.

◆ setMoment()

bool SensorLinkNewtonEuler::setMoment ( const yarp::sig::Vector & _Mu )

virtual

Set the OneLink moment: either the corresponding iDynLink moment, or the one declared as member in the child classes derived from OneLink, such as SensorLink.

Parameters

_Mu	a 3x1 vector of moments

Returns: true if size is correct, false otherwise

Reimplemented from iCub::iDyn::OneLinkNewtonEuler.

Definition at line 1412 of file iDynInv.cpp.

◆ setSensor()

bool SensorLinkNewtonEuler::setSensor	(	const yarp::sig::Matrix &	_H,
		const yarp::sig::Matrix &	_HC,
		const double	_m,
		const yarp::sig::Matrix &	_I
	)

Set a new sensor or new sensor properties.

Parameters

_H	the roto-traslational matrix from the reference frame of the i-th link to the sensor
_HC	the roto-traslational matrix of the center of mass of the semi-link defined by the sensor in the i-th link
_m	the mass of the semi-link
_I	the inertia of the semi-link

Definition at line 1280 of file iDynInv.cpp.

◆ setTorque()

void SensorLinkNewtonEuler::setTorque ( const double _Tau )

virtual

Set the OneLink torque, ie the corresponding iDynLink joint torque (nothing in the child classes derived from OneLink, such as SensorLink)

Parameters

_Tau	a real torque value

Reimplemented from iCub::iDyn::OneLinkNewtonEuler.

Definition at line 1428 of file iDynInv.cpp.

◆ toString()

string SensorLinkNewtonEuler::toString ( ) const

virtual

Useful to print some information.

Reimplemented from iCub::iDyn::OneLinkNewtonEuler.

Definition at line 1310 of file iDynInv.cpp.

Member Data Documentation

◆ COM

yarp::sig::Matrix iCub::iDyn::SensorLinkNewtonEuler::COM

protected

the roto-translational matrix of the COM of the semi-link (bewteen sensor and ith link frame)

Definition at line 737 of file iDynInv.h.

◆ ddp

yarp::sig::Vector iCub::iDyn::SensorLinkNewtonEuler::ddp

protected

linear acceleration

Definition at line 731 of file iDynInv.h.

◆ ddpC

yarp::sig::Vector iCub::iDyn::SensorLinkNewtonEuler::ddpC

protected

linear acceleration of the COM

Definition at line 733 of file iDynInv.h.

◆ dw

yarp::sig::Vector iCub::iDyn::SensorLinkNewtonEuler::dw

protected

angular acceleration

Definition at line 729 of file iDynInv.h.

◆ F

yarp::sig::Vector iCub::iDyn::SensorLinkNewtonEuler::F

protected

measured or estimated force

Definition at line 722 of file iDynInv.h.

◆ H

yarp::sig::Matrix iCub::iDyn::SensorLinkNewtonEuler::H

protected

the roto-translational matrix from the i-th link to the sensor: it's the matrix describing the sensor position and orientation with respect to the frame of the link where the sensor is placed on

Definition at line 735 of file iDynInv.h.

◆ I

yarp::sig::Matrix iCub::iDyn::SensorLinkNewtonEuler::I

protected

the semi-link inertia

Definition at line 739 of file iDynInv.h.

◆ m

double iCub::iDyn::SensorLinkNewtonEuler::m

protected

the semi-link mass (the portion of link defined by the sensor)

Definition at line 741 of file iDynInv.h.

◆ Mu

yarp::sig::Vector iCub::iDyn::SensorLinkNewtonEuler::Mu

protected

measured or estimated moment

Definition at line 724 of file iDynInv.h.

◆ R

yarp::sig::Matrix iCub::iDyn::SensorLinkNewtonEuler::R

protected

Definition at line 743 of file iDynInv.h.

◆ r

yarp::sig::Vector iCub::iDyn::SensorLinkNewtonEuler::r

protected

Definition at line 745 of file iDynInv.h.

◆ r_proj

yarp::sig::Vector iCub::iDyn::SensorLinkNewtonEuler::r_proj

protected

Definition at line 746 of file iDynInv.h.

◆ RC

yarp::sig::Matrix iCub::iDyn::SensorLinkNewtonEuler::RC

protected

Definition at line 744 of file iDynInv.h.

◆ rc

yarp::sig::Vector iCub::iDyn::SensorLinkNewtonEuler::rc

protected

Definition at line 747 of file iDynInv.h.

◆ rc_proj

yarp::sig::Vector iCub::iDyn::SensorLinkNewtonEuler::rc_proj

protected

Definition at line 748 of file iDynInv.h.

◆ w

yarp::sig::Vector iCub::iDyn::SensorLinkNewtonEuler::w

protected

angular velocity

Definition at line 727 of file iDynInv.h.

◆ zeros0

const yarp::sig::Vector iCub::iDyn::SensorLinkNewtonEuler::zeros0

protected

Definition at line 749 of file iDynInv.h.

The documentation for this class was generated from the following files:

icub-main/src/libraries/iDyn/include/iCub/iDyn/iDynInv.h
icub-main/src/libraries/iDyn/src/iDynInv.cpp

Public Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ SensorLinkNewtonEuler() [1/2]

◆ SensorLinkNewtonEuler() [2/2]

◆ ~SensorLinkNewtonEuler()

Member Function Documentation

◆ BackwardAttachToLink()

◆ computeAngAcc()

◆ computeAngVel()

◆ computeForce()

◆ computeForceToLink()

◆ computeLinAcc()

◆ computeLinAccC()

◆ computeMoment()

◆ computeMomentToLink()

◆ ForwardAttachToLink()

◆ ForwardForcesMomentsToLink()

◆ getAngAcc()

◆ getAngAccM()

◆ getAngVel()

◆ getD2q()

◆ getDq()

◆ getForce()

◆ getForceMoment()

◆ getFs()

◆ getFv()

◆ getH()

◆ getIm()

◆ getInertia()

◆ getKr()

◆ getLinAcc()

◆ getLinAccC()

◆ getMass()

◆ getMoment()

◆ getR()

◆ getr()

◆ getRC()

◆ getrC()

◆ getTorque()

◆ getType()

◆ setAngAcc()

◆ setAngAccM()

◆ setAngVel()

◆ setForce()

◆ setLinAcc()

◆ setLinAccC()

◆ setMeasuredFMu()

◆ setMoment()

◆ setSensor()

◆ setTorque()

◆ toString()

Member Data Documentation

◆ COM

◆ ddp

◆ ddpC

◆ dw

◆ F

◆ H

◆ I

◆ m

◆ Mu

◆ R

◆ r

◆ r_proj

◆ RC

◆ rc

◆ rc_proj

◆ w

◆ zeros0